diff --git a/sdk/components/tmc/ic/ztmc5130.cpp b/sdk/components/tmc/ic/ztmc5130.cpp
index f510dd8..fed9d95 100644
--- a/sdk/components/tmc/ic/ztmc5130.cpp
+++ b/sdk/components/tmc/ic/ztmc5130.cpp
@@ -47,7 +47,6 @@ void TMC51X0::initialize(cfg_t *cfg) {
 }
 
 void TMC51X0::setMRES(mres_type_t value) {
-
   if (value == kmres_256) {
     m_onecirclepulse = 51200;
   } else if (value == kmres_128) {
@@ -72,7 +71,6 @@ void TMC51X0::setMRES(mres_type_t value) {
   }
   m_MRES = value;
   PRV_FIELD_WRITE(TMC5130_CHOPCONF, TMC5130_MRES_MASK, TMC5130_MRES_SHIFT, value);
-
 }
 
 void TMC51X0::setNoAccLimit(bool enable) {
@@ -99,20 +97,18 @@ void TMC51X0::enable(bool enable) {
   SET_PIN(m_ennpin, !enable);
 }
 uint8_t TMC51X0::reset() {
-  stop();
-  // m_port->TMC5130Port_setResetNPinState(m_channel, false);
-  SET_PIN(m_csnpin, false);
-  // m_port->TMC5130Port_sleepus(1000);
-  zchip_clock_early_delayus(1000);
-  // m_port->TMC5130Port_setResetNPinState(m_channel, true);
+  // SET_PIN(m_csnpin, false);
+  // zchip_clock_early_delayus(1000);
   SET_PIN(m_csnpin, true);
 
-  for (uint32_t add = 0; add < TMC5130_REGISTER_COUNT; add++) {
-    if (!TMC_IS_RESETTABLE(m_registerAccessTable[add])) {
-      continue;
-    }
-    writeInt(add, m_defaultRegisterResetState[add]);
-  }
+  stop();
+  enable(false);
+  // for (uint32_t add = 0; add < TMC5130_REGISTER_COUNT; add++) {
+  //   if (!TMC_IS_RESETTABLE(m_registerAccessTable[add])) {
+  //     continue;
+  //   }
+  //   writeInt(add, m_defaultRegisterResetState[add]);
+  // }
   writeInt(TMC5130_PWMCONF, 0x000500C8);
   writeInt(TMC5130_CHOPCONF, 0x000100c3);
   writeInt(TMC5130_IHOLD_IRUN, 0x00051A00);
@@ -120,19 +116,23 @@ uint8_t TMC51X0::reset() {
   writeInt(TMC5130_XTARGET, 0);
   writeInt(TMC5130_XACTUAL, 0x00000000);
   writeInt(TMC5130_VACTUAL, 0x00000000);
-  writeInt(TMC5130_VSTART, 3000);
-  writeInt(TMC5130_A1, 0);
-  writeInt(TMC5130_V1, 0);
-  writeInt(TMC5130_D1, 0);
-  writeInt(TMC5130_VSTOP, 3000);
   writeInt(TMC5130_TZEROWAIT, 0);
-  // TMC5130_AMAX
-  setAcceleration(100);
-  setDeceleration(100);
+
+  set_vstart(100);
+  set_a1(15);
+  set_amax(15);
+  set_v1(500);
+  set_dmax(15);
+  set_d1(15);
+  set_vstop(100);
+  set_tzerowait(100);
+
   setIHOLD_IRUN(0, 4, 1);
   enable(false);
   return 0;
 }
+
+
 int32_t TMC51X0::getXACTUAL() { return to_user_pos(readInt(TMC5130_XACTUAL)); }
 void    TMC51X0::setXACTUAL(int32_t value) {
   /**
diff --git a/usrc/version.h b/usrc/version.h
index bc805a4..ce840be 100644
--- a/usrc/version.h
+++ b/usrc/version.h
@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1009
+#define PC_VERSION           1010